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There are the current issues of unification, inefficiency, and low precision in the control strategies of unmanned vehicles across various scenarios. The optimal control system for AGVs is the critical research. Firstly, the kinematic characteristics of AGVs is analyzed. A three-dimensional model of a dual-drive differential speed unmanned vehicle is built with CoppeliaSim. Then a trajectory tracking algorithm is designed based on the concept of the PID algorithm to enhance the precision of AGV control. Simulation is conducted through communication between MATLAB and CoppeliaSim, Additionally, the various speed planning models are analysis. An AGV speed planning decision model is provided. The indicators for evaluating the optimal control system is established. Four types of speed planning models are solved by MATLAB. Precise controlling of unmanned vehicles is achieved in multiple scenarios.

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Design of Optimal Control System for AGV Power Converter

  • 会议论文

  • 发表日期：

    2025年

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  • Yuming Meng,
  • Ziyu Wang,
  • Song Wang,
  • Duanling Li

摘要

There are the current issues of unification, inefficiency, and low precision in the control strategies of unmanned vehicles across various scenarios. The optimal control system for AGVs is the critical research. Firstly, the kinematic characteristics of AGVs is analyzed. A three-dimensional model of a dual-drive differential speed unmanned vehicle is built with CoppeliaSim. Then a trajectory tracking algorithm is designed based on the concept of the PID algorithm to enhance the precision of AGV control. Simulation is conducted through communication between MATLAB and CoppeliaSim, Additionally, the various speed planning models are analysis. An AGV speed planning decision model is provided. The indicators for evaluating the optimal control system is established. Four types of speed planning models are solved by MATLAB. Precise controlling of unmanned vehicles is achieved in multiple scenarios.